EP1516792A1 - Methode et dispositif pour prendre en considération la réaction au volant du conducteur pour la stabilisation d'un ensemble tracteur-remorque - Google Patents

Methode et dispositif pour prendre en considération la réaction au volant du conducteur pour la stabilisation d'un ensemble tracteur-remorque Download PDF

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Publication number
EP1516792A1
EP1516792A1 EP04019135A EP04019135A EP1516792A1 EP 1516792 A1 EP1516792 A1 EP 1516792A1 EP 04019135 A EP04019135 A EP 04019135A EP 04019135 A EP04019135 A EP 04019135A EP 1516792 A1 EP1516792 A1 EP 1516792A1
Authority
EP
European Patent Office
Prior art keywords
intensity
driver
rolling
steering angle
rolling movement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP04019135A
Other languages
German (de)
English (en)
Other versions
EP1516792B1 (fr
Inventor
Gero Nenninger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE102004005074A external-priority patent/DE102004005074A1/de
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP1516792A1 publication Critical patent/EP1516792A1/fr
Application granted granted Critical
Publication of EP1516792B1 publication Critical patent/EP1516792B1/fr
Expired - Fee Related legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
    • B60T8/1708—Braking or traction control means specially adapted for particular types of vehicles for lorries or tractor-trailer combinations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/06—Tractor-trailer swaying

Definitions

  • the invention is based on a method and a device for stabilizing a Road vehicle according to DE 199 64 048 A1.
  • An advantageous embodiment of the invention is characterized in that then on a present panic steering reaction of the driver is detected when the detected Characteristic exceeds a characteristic threshold.
  • An advantageous embodiment of the invention is characterized in that the characteristic threshold is dependent on the vehicle longitudinal speed. As a result, it is possible that a wide space is given to the driving skills in the area of low speeds, while at high speeds it is more of a driver-independent stabilization intervention that is used.
  • An advantageous embodiment of the invention is characterized in that a present panic steering reaction of the driver is detected only when the intensity The rolling movement additionally increases in time or a vibration with growing Amplitude is present.
  • the increase in rattle intensity is an indication that the rider is stabilizing the trailer not succeed on their own.
  • An advantageous embodiment of the invention is characterized in that in the case a detected panic steering response of the driver a smaller intensity limit is chosen as in the case of a driving maneuver deliberately performed by the driver. This ensures that the panic behavior of the driver is faster Stabilization intervention takes place.
  • An advantageous embodiment of the invention is characterized in that a low-pass filter is present, through which the characteristic filtered prior to their further processing becomes. This filters out high-frequency interference.
  • An advantageous embodiment of the invention is characterized in that a Steering angle analysis only takes place if in addition the intensity of the rolling motion exceeds a predefinable limit. Also, this will be unnecessary Steering angle analyzes avoided.
  • An advantageous embodiment of the invention is characterized in that the intensity the rolling motion based on the difference between the low-pass filtered actual yaw rate of the road vehicle and the target yaw rate determined becomes.
  • An advantageous embodiment of the invention is characterized in that the desired yaw rate is determined on the basis of an one-track model. This is mathematical simple and therefore easy to implement programmatically.
  • Fig. 1 the structure of the overall system is shown.
  • Blocks 203 and 204 On the basis of the filtered size KoLwF as well as optionally further parameters finds in the Blocks 203 and 204, the recognition of different driving situations instead.
  • Fig. 2 are only two blocks (203 and 204) are shown here by way of example of course, but also act by just a block or more than two blocks, like it is indicated by the dots ("") in the vertical direction between the blocks 203 and 204 is.
  • a panic steering movement or steering reaction recognized by the driver.
  • a panic steering reaction of the Driver is recognized by the fact that the size KoLwF one (optional of the vehicle longitudinal speed dependent) threshold.
  • Other conditions such as e.g. a yaw rate threshold or increasing amplitudes of the trailer vibration are used.
  • the triggering threshold the Schlingerlogik and thus the engagement release are adjusted to prevent unnecessary intervention.
  • the presence of an overtaking maneuver is detected. For example, shear the vehicle on a multi-lane road to the left and later to the right again. In this case, driver-independent braking interventions are undesirable (as long as Of course, the intensity of the trailer vibration does not have a specifiable threshold exceeds).
  • driver-independent braking interventions are used also omitted.
  • the output signals of blocks 203 and 204 become forwarded to block 205, in which the driver-independent interventions in the brake system (wheel - specific brake interventions) and / or the engine control (withdrawal of the Engine torque).
  • the blocks 203 and 204 are used to identify the situation in addition to the Size KoLwF of course other sizes (for example, the vehicle's longitudinal speed vFz or the low-pass filtered yaw rate vGiF) posed.
  • the analysis of the steering angle curve in block 201 only takes place when via input 206, block 201 is released for analysis. This can, for example, the Steering angle gradient are considered. Too fast an end to panic detection to avoid a soothing steering angle, one of the triggering threshold different limit (and possibly other conditions such as second yaw rate threshold) for the termination of the steering angle analysis and the Reset the panic detection used.
  • FIG. 1 The embedding of the apparatus shown in FIG. 2 in a larger system is shown in FIG. 1 shown. This is at block 103 to the system shown in Fig. 2.
  • FIG vGiSoAck the difference between the actual yaw rate vGiF and the target yaw rate is shown in FIG vGiSoAck formed.
  • Lw steering angle or steering wheel angle
  • vFz vehicle longitudinal speed
  • the difference variable vGiF - vGiSoAck to temporally periodic or almost periodically recurring Structures examined.
  • the so-called wavelet transformation is suitable.
  • An alternative to a wavelet transformation is the use of a Fourier transformation conceivable in principle, but their program implementation has the Disadvantage of higher memory requirements (with a wavelet transformation are very high data compression rates achievable).
  • the output of block 101 is forwarded to block 103.
  • the steering angle (and optionally further additional signals) via the release of driver independent Measures for trailer stabilization decided. It is in particular to a withdrawal of the engine torque (output 104) or wheel-specific braking interventions (Output 105) thought.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
EP04019135A 2003-09-18 2004-08-12 Methode et dispositif pour prendre en considération la réaction au volant du conducteur pour la stabilisation d'un ensemble tracteur-remorque Expired - Fee Related EP1516792B1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE10343186 2003-09-18
DE10343186 2003-09-18
DE102004005074A DE102004005074A1 (de) 2003-09-18 2004-02-02 Verfahren und Vorrichtung zur Berücksichtigung der Fahrer-Lenkreaktion bei der Gespannstabilisierung
DE102004005074 2004-02-02

Publications (2)

Publication Number Publication Date
EP1516792A1 true EP1516792A1 (fr) 2005-03-23
EP1516792B1 EP1516792B1 (fr) 2006-09-13

Family

ID=34195758

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04019135A Expired - Fee Related EP1516792B1 (fr) 2003-09-18 2004-08-12 Methode et dispositif pour prendre en considération la réaction au volant du conducteur pour la stabilisation d'un ensemble tracteur-remorque

Country Status (4)

Country Link
US (1) US20050065694A1 (fr)
EP (1) EP1516792B1 (fr)
CN (1) CN1597411A (fr)
DE (1) DE502004001458D1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8311693B2 (en) 2010-11-19 2012-11-13 Robert Bosch Gmbh Energy management for hybrid electric vehicle during trailer sway
US8326504B2 (en) 2009-07-30 2012-12-04 Robert Bosch Gmbh Holistic control for stabilizing vehicle-trailer swaying
US8838353B2 (en) 2009-07-24 2014-09-16 Robert Bosch Gmbh Trailer sway mitigation using measured distance between a trailer and a tow vehicle
US9061663B2 (en) 2010-10-27 2015-06-23 Robert Bosch Gmbh Trailer sway mitigation using torque vectoring
WO2016023815A1 (fr) * 2014-08-14 2016-02-18 Robert Bosch Gmbh Procédé et dispositif permettant de faire fonctionner un attelage

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4577013B2 (ja) * 2004-12-28 2010-11-10 日産自動車株式会社 車線逸脱防止装置
US7394354B2 (en) * 2005-02-04 2008-07-01 Robert Bosch Gmbh Trailer presence detection system and method
US7561953B2 (en) * 2005-03-14 2009-07-14 Robert Bosch Gmbh Method and system of controlling a vehicle in the presence of a disturbance
DE102005018471B4 (de) * 2005-04-21 2024-03-28 Robert Bosch Gmbh Verfahren und Vorrichtung zur Stabilisierung eines Kraftfahrzeugs
SE533870C2 (sv) 2005-07-11 2011-02-15 Volvo Lastvagnar Ab System och förfarande för stabilisering av en fordonskombination
WO2007060135A1 (fr) * 2005-11-22 2007-05-31 Continental Teves Ag & Co. Ohg Procede et systeme de regulation dynamique du roulage en vue de la stabilisation d'un attelage
SE529656C2 (sv) * 2006-05-23 2007-10-16 Vibsec Ab Metod och system för övervakning av manuell styrning av dynamiska system
DE102006029367A1 (de) * 2006-06-27 2008-01-03 Robert Bosch Gmbh Verfahren und Steuergerät zur Erkennung eines Anhängerbetriebs bei einem Zugfahrzeug
US8740317B2 (en) * 2006-08-11 2014-06-03 Robert Bosch Gmbh Closed-loop control for trailer sway mitigation
DE102010004320A1 (de) * 2010-01-12 2011-07-14 MAN Truck & Bus AG, 80995 Nutzfahrzeug mit einer gelenkten Achse als Schwingungstilger
JP5706732B2 (ja) * 2011-03-30 2015-04-22 富士重工業株式会社 牽引車両の制御装置
DE102014210801A1 (de) * 2014-06-05 2015-12-17 Robert Bosch Gmbh Verfahren und Vorrichtung zur Detektion einer kritischen Schlingerbewegung eines Anhängers eines Fahrzeuggespanns
US10071729B2 (en) 2016-05-16 2018-09-11 Ford Global Technologies, Llc Tow damping system
CN108189025A (zh) * 2017-11-23 2018-06-22 上海楷沃机器人科技有限公司 一种仿真人形机器人控制胸部震动幅度的方法
CN115195375B (zh) * 2021-04-14 2024-04-26 长城汽车股份有限公司 一种车身主动控制方法、装置及车辆

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19964048A1 (de) * 1999-06-30 2001-01-04 Bosch Gmbh Robert Verfahren und Einrichtung zum Stabilisieren eines Straßenfahrzeugs
DE10048418A1 (de) * 2000-09-29 2002-04-18 Pascal Munnix Verfahren zur Stabilisierung eines Fahrzeugs
WO2002053424A1 (fr) * 2000-12-29 2002-07-11 Robert Bosch Gmbh Systeme de regulation de freinage destine a stabiliser le deplacement d'un vehicule utilitaire

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3570145B2 (ja) * 1997-02-25 2004-09-29 トヨタ自動車株式会社 連結車のトレーラブレーキ制御装置
DE19812237C1 (de) * 1998-03-20 1999-09-23 Daimler Chrysler Ag Verfahren zur Fahrdynamik-Regelung an einem Straßenfahrzeug
DE19827882A1 (de) * 1998-06-23 1999-12-30 Bosch Gmbh Robert Verfahren und Vorrichtung zur Stabilisierung eines Fahrzeugs
DE19859966A1 (de) * 1998-12-29 2000-07-13 Bosch Gmbh Robert Vorrichtung und Verfahren zur Stabilisierung eines Fahrzeuges
AU757654B2 (en) * 1999-06-30 2003-02-27 Robert Bosch Gmbh Method and device for stabilizing a vehicle
DE19964058B4 (de) * 1999-12-30 2015-11-12 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Einrichtung und Verfahren zum Stabilisieren eines Gespanns aus einer Zugmaschine und zumindest einem Auflieger oder Anhänger
DE10031849B4 (de) * 2000-07-04 2014-05-15 Robert Bosch Gmbh Vorrichtung und Verfahren zur Stabilisierung eines Fahrzeuges
US20020107627A1 (en) * 2000-11-29 2002-08-08 Visteon Global Technologies, Inc. Trailer and simulator
DE10393558D2 (de) * 2002-11-08 2005-10-20 Continental Teves Ag & Co Ohg Verfahren und Einrichtung zum Stabilisieren eines Gespanns

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19964048A1 (de) * 1999-06-30 2001-01-04 Bosch Gmbh Robert Verfahren und Einrichtung zum Stabilisieren eines Straßenfahrzeugs
DE10031266A1 (de) * 1999-06-30 2001-01-04 Bosch Gmbh Robert Verfahren und Vorrichtung zur Erkennung einer Pendelbewegung eines Fahrzeugs
DE10048418A1 (de) * 2000-09-29 2002-04-18 Pascal Munnix Verfahren zur Stabilisierung eines Fahrzeugs
WO2002053424A1 (fr) * 2000-12-29 2002-07-11 Robert Bosch Gmbh Systeme de regulation de freinage destine a stabiliser le deplacement d'un vehicule utilitaire

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8838353B2 (en) 2009-07-24 2014-09-16 Robert Bosch Gmbh Trailer sway mitigation using measured distance between a trailer and a tow vehicle
US8326504B2 (en) 2009-07-30 2012-12-04 Robert Bosch Gmbh Holistic control for stabilizing vehicle-trailer swaying
US9061663B2 (en) 2010-10-27 2015-06-23 Robert Bosch Gmbh Trailer sway mitigation using torque vectoring
US8311693B2 (en) 2010-11-19 2012-11-13 Robert Bosch Gmbh Energy management for hybrid electric vehicle during trailer sway
WO2016023815A1 (fr) * 2014-08-14 2016-02-18 Robert Bosch Gmbh Procédé et dispositif permettant de faire fonctionner un attelage

Also Published As

Publication number Publication date
DE502004001458D1 (de) 2006-10-26
US20050065694A1 (en) 2005-03-24
EP1516792B1 (fr) 2006-09-13
CN1597411A (zh) 2005-03-23

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